Publications

109 / 3,948 publications found.


  •  Shimane, Y., Berntorp, K., Di Cairano, S., Weiss, A., "Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits", arXiv, December 2025.
    BibTeX arXiv
    • @article{Shimane2025dec,
    • author = {Shimane, Yuri and Berntorp, Karl and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.01182}
    • }
  •  Chakrabarty, A., Wichern, G., Deshpande, V.M., Vinod, A.P., Berntorp, K., Laughman, C.R., "Meta-Learning for Physically-Constrained Neural System Identification", Neurocomputing, DOI: 10.1016/​j.neucom.2025.130945, Vol. 651, pp. 130945, October 2025.
    BibTeX TR2025-159 PDF
    • @article{Chakrabarty2025nov,
    • author = {Chakrabarty, Ankush and Wichern, Gordon and Deshpande, Vedang M. and Vinod, Abraham P. and Berntorp, Karl and Laughman, Christopher R.},
    • title = {{Meta-Learning for Physically-Constrained Neural System Identification}},
    • journal = {Neurocomputing},
    • year = 2025,
    • volume = 651,
    • pages = 130945,
    • month = nov,
    • doi = {10.1016/j.neucom.2025.130945},
    • issn = {0925-2312},
    • url = {https://www.merl.com/publications/TR2025-159}
    • }
  •  Hu, Y., Di Cairano, S., Berntorp, K., "Optimal Measurement Projection in GNSS-RTK Factor Graph Optimization", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA53793.2025.11151373, August 2025.
    BibTeX TR2025-118 PDF
    • @inproceedings{Hu2025aug,
    • author = {Hu, Yingjie and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Optimal Measurement Projection in GNSS-RTK Factor Graph Optimization}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2025,
    • month = aug,
    • doi = {10.1109/CCTA53793.2025.11151373},
    • url = {https://www.merl.com/publications/TR2025-118}
    • }
  •  Chavez Armijos, A., Berntorp, K., Di Cairano, S., "Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning", American Control Conference (ACC), DOI: 10.23919/​ACC63710.2025.11107681, July 2025.
    BibTeX TR2025-104 PDF
    • @inproceedings{ChavezArmijos2025jul,
    • author = {Chavez Armijos, Andres and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • doi = {10.23919/ACC63710.2025.11107681},
    • url = {https://www.merl.com/publications/TR2025-104}
    • }
  •  Hu, Y., Di Cairano, S., Berntorp, K., "GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise", American Control Conference (ACC), DOI: 10.23919/​ACC63710.2025.11107797, July 2025.
    BibTeX TR2025-102 PDF
    • @inproceedings{Hu2025jul,
    • author = {Hu, Yingjie and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • month = jul,
    • doi = {10.23919/ACC63710.2025.11107797},
    • url = {https://www.merl.com/publications/TR2025-102}
    • }
  •  Zhou, Z., Di Cairano, S., Wang, Y., Berntorp, K., "Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA55743.2025.11128205, May 2025.
    BibTeX TR2025-063 PDF
    • @inproceedings{Zhou2025may,
    • author = {Zhou, Ziyi and {Di Cairano}, Stefano and Wang, Yebin and Berntorp, Karl},
    • title = {{Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • doi = {10.1109/ICRA55743.2025.11128205},
    • url = {https://www.merl.com/publications/TR2025-063}
    • }
  •  Chakrabarty, A., Wichern, G., Deshpande, V.M., Vinod, A.P., Berntorp, K., Laughman, C.R., "Meta-Learning for Physically-Constrained Neural System Identification", arXiv, January 2025.
    BibTeX arXiv
    • @article{Chakrabarty2025jan,
    • author = {Chakrabarty, Ankush and Wichern, Gordon and Deshpande, Vedang M. and Vinod, Abraham P. and Berntorp, Karl and Laughman, Christopher R.},
    • title = {{Meta-Learning for Physically-Constrained Neural System Identification}},
    • journal = {arXiv},
    • year = 2025,
    • month = jan,
    • url = {https://arxiv.org/abs/2501.06167v1}
    • }
  •  Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
    BibTeX TR2025-010 PDF
    • @article{Greiff2025jan,
    • author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 33,
    • number = 2,
    • pages = {449--462},
    • month = jan,
    • doi = {10.1109/TCST.2024.3492813},
    • issn = {1063-6536},
    • url = {https://www.merl.com/publications/TR2025-010}
    • }
  •  Chakrabarty, A., Deshpande, V.M., Wichern, G., Berntorp, K., "Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886249, December 2024.
    BibTeX TR2024-180 PDF
    • @inproceedings{Chakrabarty2024dec,
    • author = {Chakrabarty, Ankush and Deshpande, Vedang M. and Wichern, Gordon and Berntorp, Karl},
    • title = {{Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886249},
    • url = {https://www.merl.com/publications/TR2024-180}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Bayesian Measurement Masks for GNSS Positioning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885938, December 2024.
    BibTeX TR2024-172 PDF
    • @inproceedings{Greiff2024dec,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Bayesian Measurement Masks for GNSS Positioning}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885938},
    • url = {https://www.merl.com/publications/TR2024-172}
    • }
  •  Greiff, M., Berntorp, K., "Asynchronous Variational-Bayes Kalman Filtering", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886035, December 2024.
    BibTeX TR2024-177 PDF
    • @inproceedings{Greiff2024dec2,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Asynchronous Variational-Bayes Kalman Filtering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886035},
    • url = {https://www.merl.com/publications/TR2024-177}
    • }
  •  Yin, J., Tsiotras, P., Berntorp, K., "Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885840, December 2024.
    BibTeX TR2024-179 PDF
    • @inproceedings{Yin2024dec,
    • author = {Yin, Ji and Tsiotras, Panagiotis and Berntorp, Karl},
    • title = {{Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885840},
    • url = {https://www.merl.com/publications/TR2024-179}
    • }
  •  Berntorp, K., Greiff, M., "A Framework for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", Control Engineering Practice, DOI: 10.1016/​j.conengprac.2024.106112, November 2024.
    BibTeX TR2024-163 PDF
    • @article{Berntorp2024nov,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{A Framework for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • journal = {Control Engineering Practice},
    • year = 2024,
    • month = nov,
    • doi = {10.1016/j.conengprac.2024.106112},
    • url = {https://www.merl.com/publications/TR2024-163}
    • }
  •  Zhang, Y., Greiff, M., Ren, W., Berntorp, K., "Distributed Road-Map Monitoring Using Onboard Sensors", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644978, July 2024.
    BibTeX TR2024-093 PDF
    • @inproceedings{Zhang2024jul,
    • author = {Zhang, Yanyu and Greiff, Marcus and Ren, Wei and Berntorp, Karl},
    • title = {{Distributed Road-Map Monitoring Using Onboard Sensors}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • month = jul,
    • doi = {10.23919/ACC60939.2024.10644978},
    • url = {https://www.merl.com/publications/TR2024-093}
    • }
  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
    BibTeX TR2024-086 PDF
    • @incollection{DiCairano2024jun,
    • author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
    • title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
    • booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
    • year = 2024,
    • month = jun,
    • isbn = {978-3-031-82681-8},
    • url = {https://www.merl.com/publications/TR2024-086}
    • }
  •  Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590965, June 2024, pp. 725-730.
    BibTeX TR2024-082 PDF
    • @inproceedings{Berntorp2024jun,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {725--730},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590965},
    • url = {https://www.merl.com/publications/TR2024-082}
    • }
  •  Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590943, June 2024.
    BibTeX TR2024-081 PDF
    • @inproceedings{Greiff2024jun,
    • author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{A Robust Invariant Set Planner For Quadrotors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10590943},
    • url = {https://www.merl.com/publications/TR2024-081}
    • }
  •  Wang, Y., Berntorp, K., Menner, M., "Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590862, June 2024, pp. 699-704.
    BibTeX TR2024-084 PDF
    • @inproceedings{Wang2024jun4,
    • author = {Wang, Yanbing and Berntorp, Karl and Menner, Marcel},
    • title = {{Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {699--704},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590862},
    • url = {https://www.merl.com/publications/TR2024-084}
    • }
  •  Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590751, June 2024, pp. 2768-2773.
    BibTeX TR2024-085 PDF
    • @inproceedings{Menner2024jun,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {{Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {2768--2773},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590751},
    • url = {https://www.merl.com/publications/TR2024-085}
    • }
  •  Greiff, M., Di Cairano, S., Kim, K.J., Berntorp, K., "A System-Level Cooperative Multi-Agent GNSS Positioning Solution", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2023.3307339, Vol. 32, No. 1, pp. 158-173, October 2023.
    BibTeX TR2023-135 PDF
    • @article{Greiff2023oct,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Kim, Kyeong Jin and Berntorp, Karl},
    • title = {{A System-Level Cooperative Multi-Agent GNSS Positioning Solution}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2023,
    • volume = 32,
    • number = 1,
    • pages = {158--173},
    • month = oct,
    • doi = {10.1109/TCST.2023.3307339},
    • url = {https://www.merl.com/publications/TR2023-135}
    • }
  •  Shimane, Y., Miraldo, P., Berntorp, K., Greiff, M., Elango, P., Weiss, A., "High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software", International Astronautical Congress (IAC), October 2023, pp. IAC-23,C1,5,9,x78805.
    BibTeX TR2023-128 PDF
    • @inproceedings{Shimane2023oct,
    • author = {Shimane, Yuri and Miraldo, Pedro and Berntorp, Karl and Greiff, Marcus and Elango, Purnanand and Weiss, Avishai},
    • title = {{High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software}},
    • booktitle = {International Astronautical Congress (IAC)},
    • year = 2023,
    • pages = {IAC--23,C1,5,9,x78805},
    • month = oct,
    • url = {https://www.merl.com/publications/TR2023-128}
    • }
  •  Iqbal, H., Di Cairano, S., Berntorp, K., "Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253020, August 2023.
    BibTeX TR2023-101 PDF
    • @inproceedings{Iqbal2023aug,
    • author = {Iqbal, Hassan and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering}},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253020},
    • url = {https://www.merl.com/publications/TR2023-101}
    • }
  •  Menner, M., Berntorp, K., "Gaussian Processes with State-Dependent Noise for Stochastic Control", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252506, August 2023.
    BibTeX TR2023-100 PDF
    • @inproceedings{Menner2023aug2,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {{Gaussian Processes with State-Dependent Noise for Stochastic Control}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252506},
    • url = {https://www.merl.com/publications/TR2023-100}
    • }
  •  Tiwari, A., Berntorp, K., Di Cairano, S., Menner, M., "Personalized Routing using Crowdsourced Connected Vehicle Data", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253029, August 2023.
    BibTeX TR2023-095 PDF
    • @inproceedings{Tiwari2023aug,
    • author = {Tiwari, Anuj and Berntorp, Karl and {Di Cairano}, Stefano and Menner, Marcel},
    • title = {{Personalized Routing using Crowdsourced Connected Vehicle Data}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253029},
    • url = {https://www.merl.com/publications/TR2023-095}
    • }
  •  Greiff, M., Di Cairano, S., Mansour, H., Berntorp, K., "A Generalized GraphEM for Sparse Time-Varying Dynamical Systems", World Congress of the International Federation of Automatic Control (IFAC), Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita, Eds., DOI: 10.1016/​j.ifacol.2023.10.630, July 2023, pp. 5957-5962.
    BibTeX TR2023-086 PDF
    • @inproceedings{Greiff2023jul2,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Mansour, Hassan and Berntorp, Karl},
    • title = {{A Generalized GraphEM for Sparse Time-Varying Dynamical Systems}},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita},
    • pages = {5957--5962},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2023.10.630},
    • issn = {2405-8963},
    • url = {https://www.merl.com/publications/TR2023-086}
    • }